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I'm afraid I forget, but it wasn't very early. Apparently it is sometimes possible from as early as week 12:

https://www.verywell.com/how-to-listen-to-babys-heart-beat-in-pregnancy-2759790

but I'd think that you would need to be very experienced to realise what you were hearing, as it is barely perceptible when you first try it.

I had the benefit of our retired-gynecologist aunt confirming that what I thought I was hearing was actually real.

You could do worse that going to your gynecologist with a spare print, and presenting it to them in exchange for a quick lesson -- ours seemed very pleased with the present :-)